309aaba342
- 8B PDO config: ULINT-sized payload, no 0x1A01 diag PDO on SM3 (device rejected SM3=8 with diag assigned: 'size not allowed, min/max 0xa') - twin_layout_blob_sized(): single 64-bit mapping entry for 8B payloads - Ticker: per-byte XOR 0x5A transform in 8B mode so TwinCAT can verify every byte individually (1KB path unchanged, const-guarded) - TwinCAT automation scripts: deploy with RPC retry, LinkVariables-based whole-array relink (element links only carry 1 byte), ADS watch, diag - Docs: 8B design, verification methodology, test report
120 lines
3.5 KiB
PowerShell
120 lines
3.5 KiB
PowerShell
#Requires -Version 5.1
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<#
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.SYNOPSIS
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Check EL6695 EtherCAT status via TwinCAT automation interface.
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.DESCRIPTION
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Opens the solution, reads EtherCAT master state, finds EL6695,
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reports AL state, PDO mapping, SM configuration, and CoE objects.
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#>
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[CmdletBinding()]
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param(
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[string]$Solution = "C:\Users\tonycao\work\twincat3-auto-cli\TwinCAT_EL6695_Secondary\TwinCAT_EL6695_Secondary.sln",
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[string]$TargetNetId = "10.0.0.106.1.1",
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[switch]$Visible
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)
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. "$PSScriptRoot\tc-common.ps1"
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$LogFile = Join-Path $script:DefaultLogDir "check-el6695.log"
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New-Log $script:DefaultLogDir
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Write-Log "=== Check EL6695 Status ===" $LogFile
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try {
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$dte = Get-Dte -Visible:$Visible
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} catch {
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Write-Log "FATAL: Cannot create DTE — $_" $LogFile
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Write-Host "ERROR: Cannot create DTE: $_" -ForegroundColor Red
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exit 1
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}
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try {
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if (-not (Open-Solution -Dte $dte -Solution $Solution)) {
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throw "Solution did not open"
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}
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$sysMgr = Get-SysManager -Dte $dte
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if (-not $sysMgr) {
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Write-Log "FATAL: SysManager is null" $LogFile
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Write-Host "ERROR: SysManager is null" -ForegroundColor Red
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exit 1
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}
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Write-Log "SysManager obtained OK" $LogFile
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# Try to get project info
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try {
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$proj = $dte.Solution.Projects.Item(1)
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Write-Log "Project: $($proj.Name)" $LogFile
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Write-Host "Project: $($proj.Name)"
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} catch {
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Write-Log "Cannot get project: $_" $LogFile
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}
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# Try to access EtherCAT master via automation interface
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# The key is to enumerate tree items to find the EtherCAT master and devices
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try {
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$configMgr = $sysMgr.ConfigurationManager
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Write-Log "ConfigurationManager obtained" $LogFile
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# Try to get the build info
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$buildInfo = $configMgr.BuildInfo
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Write-Log "BuildInfo: $($buildInfo | Out-String)" $LogFile
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Write-Host "BuildInfo: $($buildInfo | Out-String)"
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} catch {
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Write-Log "ConfigManager error: $_" $LogFile
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}
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# Use JSON command to query EtherCAT state
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Write-Log "Querying EtherCAT state via JSON command..." $LogFile
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# Create a temp JSON command file
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$jsonCmd = @"
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{
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"commands": [
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{
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"method": "GetInfo",
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"params": {}
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}
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]
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}
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"@
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$jsonFile = Join-Path $env:TEMP "tc_query.json"
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$jsonCmd | Out-File -FilePath $jsonFile -Encoding UTF8
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try {
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$result = & "C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\TcSysManCmdHelper.exe" `
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-v 4026.0 `
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-o $Solution `
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-j $jsonFile 2>&1
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Write-Log "JSON query result: $result" $LogFile
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Write-Host "JSON query result: $result"
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} catch {
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Write-Log "JSON query error: $_" $LogFile
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}
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# Try to read specific CoE objects via command
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Write-Log "Trying to read CoE objects via command interface..." $LogFile
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# Try using the -c command option
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$cmdJson = '{"method":"ReadCoE","params":{"address":"0x1018","subIndex":1}}'
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try {
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$result = & "C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\TcSysManCmdHelper.exe" `
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-v 4026.0 `
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-o $Solution `
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-c $cmdJson 2>&1
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Write-Log "CoE read result: $result" $LogFile
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Write-Host "CoE read result: $result"
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} catch {
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Write-Log "CoE read error: $_" $LogFile
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}
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Write-Log "=== Check complete ===" $LogFile
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Write-Host "`nCheck complete. Log: $LogFile" -ForegroundColor Green
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} finally {
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try { $dte.Quit() } catch { }
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}
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